Asymptotic Tracking of Non Sinusoidal Periodic References: a Switched Linear Internal Model Approach

The regulation theory is a very robust way to achieve the asymptotic tracking of input references on Linear Time-Invariant systems generated by an exosystem. Nevertheless, the classical regulation theory cannot be applied to the asymptotic tracking of non-sinusoidal periodic references having an infinite number of harmonics (as triangular waves). In literature many methods have been proposed to deal with this kind of problem. In this paper a novel approach based on a Switched Linear Internal Model is proposed by presenting some preliminary results. This approach seems particularly promising in terms of robustness to disturbances not “captured” by the internal model and this is the main motivation of starting this study.